Robot manipulator control with joint interaction estimation

The authors present a localized linear control scheme for multijoint robot manipulators based on the estimation of the neighboring joint interactions and nonlinear terms in the joint dynamics. The interaction estimation at each joint is achieved using a linear dynamic process which generates a force waveform that closely represents the neighboring joint interactions and all the nonlinear forces in the joint dynamics. To illustrate the proposed control scheme, a single two-link robot manipulator example is used. The simulation results show improvement over the simple PID (proportional-integral-derivative) controller